Underwater ToF Sensing for Pool Cleaner Navigation
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Solution Overview
Problem
Current automatic swimming pool cleaners (APCs) lack effective underwater navigation and obstacle detection capabilities, relying on surface-based light detection and ranging (LIDAR) systems that are tethered and limited in their ability to accurately map and track pool environments without breaching the water surface.
Innovation Solution
Integration of a submergible time-of-flight (ToF) sensor on or with APCs that can transmit and receive visible light underwater, allowing for real-time distance and angular measurements of pool walls, floors, and obstacles, enabling autonomous navigation and efficient cleaning patterns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If surface-based LIDAR systems are used for navigation, then obstacle detection capability is improved, but the system must breach the water surface which increases cycle time and reduces cleaning efficiency
Solution Approach 1:
The patent replaces the mechanical surface-breaching LIDAR system with an underwater optical sensing system. The APC uses an underwater camera and LED illumination system that operates entirely submerged, eliminating the need to breach the water surface for navigation and obstacle detection. This substitution maintains measurement precision while reducing cycle time by keeping the cleaner continuously underwater.
2Ease of operation
If tethered LIDAR systems are used, then navigation capability is improved, but the system complexity and installation requirements increase
Solution Approach 1:
The patent extracts the LIDAR functionality from the tethered surface-based system and replaces it with integrated underwater optical sensors mounted directly on the APC. This eliminates the tether requirement and associated installation complexity, while maintaining navigation capability through the underwater camera and processing system that maps pool geometry and detects obstacles.
3Measurement precision
If surface-based sensing is used, then detection accuracy is improved, but the cleaner cannot operate autonomously underwater
Solution Approach 1:
The patent implements self-service by equipping the APC with integrated underwater optical sensors, LED illumination, and onboard processing capabilities. The system autonomously maps the pool environment, detects obstacles, and navigates using its own onboard sensors without requiring external surface-based LIDAR or human intervention. The controller processes images from the underwater camera and generates navigation commands independently.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables APCs to navigate and clean pools autonomously by avoiding collisions, detecting slopes, and maintaining underwater operations without surfacing, thereby improving cleaning efficiency and reducing cycle time.
Implementation Method 1
a ToF sensor attached on, in, or carried by, an APC
Implementation Method 2
transmit and receive visible light underwater, allowing for real-time distance and angular measurements
Data Source
AI summary
Automatic swimming pool cleaners may include time-of-flight sensors. The sensors may operate underwater and transmit and receive light radiation. They may be useful especially in providing distance and angular information relating to location of a pool cleaner relative to a wall of, or object within, a pool. The automatic swimming pool cleaner may be controlled based on the sensed information from the time-of-flight sensors